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Add support for SET_CAMERA_MODE command

QGC4.4
DonLakeFlyer 8 years ago
parent
fdb99e73ff
commit
469a560425
13 changed files with 365 additions and 51 deletions
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  1. 2
      libs/mavlink/include/mavlink/v2.0
  2. 1
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
  3. 8
      src/MissionManager/CameraSection.FactMetaData.json
  4. 100
      src/MissionManager/CameraSection.cc
  5. 13
      src/MissionManager/CameraSection.h
  6. 189
      src/MissionManager/CameraSectionTest.cc
  7. 7
      src/MissionManager/CameraSectionTest.h
  8. 24
      src/MissionManager/MavCmdInfoCommon.json
  9. 19
      src/MissionManager/MissionController.cc
  10. 21
      src/MissionManager/SectionTest.cc
  11. 19
      src/PlanView/CameraSection.qml
  12. 9
      src/qgcunittest/UnitTest.cc
  13. 4
      src/qgcunittest/UnitTest.h

2
libs/mavlink/include/mavlink/v2.0

@ -1 +1 @@ @@ -1 +1 @@
Subproject commit 9bc6f7d5ecb8c081b554cbd934a20290a5efa529
Subproject commit 2faa6d49834aa203e2a3eeeeed588728fb14c431

1
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
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@ -268,6 +268,7 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void) @@ -268,6 +268,7 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
<< MAV_CMD_DO_LAND_START
<< MAV_CMD_DO_MOUNT_CONFIGURE
<< MAV_CMD_DO_MOUNT_CONTROL
<< MAV_CMD_SET_CAMERA_MODE
<< MAV_CMD_IMAGE_START_CAPTURE << MAV_CMD_IMAGE_STOP_CAPTURE << MAV_CMD_VIDEO_START_CAPTURE << MAV_CMD_VIDEO_STOP_CAPTURE
<< MAV_CMD_NAV_DELAY;

8
src/MissionManager/CameraSection.FactMetaData.json
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@ -44,5 +44,13 @@ @@ -44,5 +44,13 @@
"max": 180.0,
"decimalPlaces": 0,
"defaultValue": 0
},
{
"name": "CameraMode",
"shortDescription": "Specify whether the camera should switch to photo or video mode",
"type": "uint32",
"enumStrings": "Take photos,Record video",
"enumValues": "0,1",
"defaultValue": 0
}
]

100
src/MissionManager/CameraSection.cc
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@ -12,11 +12,12 @@ @@ -12,11 +12,12 @@
QGC_LOGGING_CATEGORY(CameraSectionLog, "CameraSectionLog")
const char* CameraSection::_gimbalPitchName = "GimbalPitch";
const char* CameraSection::_gimbalYawName = "GimbalYaw";
const char* CameraSection::_cameraActionName = "CameraAction";
const char* CameraSection::_cameraPhotoIntervalDistanceName = "CameraPhotoIntervalDistance";
const char* CameraSection::_cameraPhotoIntervalTimeName = "CameraPhotoIntervalTime";
const char* CameraSection::_gimbalPitchName = "GimbalPitch";
const char* CameraSection::_gimbalYawName = "GimbalYaw";
const char* CameraSection::_cameraActionName = "CameraAction";
const char* CameraSection::_cameraPhotoIntervalDistanceName = "CameraPhotoIntervalDistance";
const char* CameraSection::_cameraPhotoIntervalTimeName = "CameraPhotoIntervalTime";
const char* CameraSection::_cameraModeName = "CameraMode";
QMap<QString, FactMetaData*> CameraSection::_metaDataMap;
@ -25,11 +26,13 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent) @@ -25,11 +26,13 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent)
, _available(false)
, _settingsSpecified(false)
, _specifyGimbal(false)
, _specifyCameraMode(false)
, _gimbalYawFact (0, _gimbalYawName, FactMetaData::valueTypeDouble)
, _gimbalPitchFact (0, _gimbalPitchName, FactMetaData::valueTypeDouble)
, _cameraActionFact (0, _cameraActionName, FactMetaData::valueTypeDouble)
, _cameraPhotoIntervalDistanceFact (0, _cameraPhotoIntervalDistanceName, FactMetaData::valueTypeDouble)
, _cameraPhotoIntervalTimeFact (0, _cameraPhotoIntervalTimeName, FactMetaData::valueTypeUint32)
, _cameraModeFact (0, _cameraModeName, FactMetaData::valueTypeUint32)
, _dirty(false)
{
if (_metaDataMap.isEmpty()) {
@ -41,23 +44,29 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent) @@ -41,23 +44,29 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent)
_cameraActionFact.setMetaData (_metaDataMap[_cameraActionName]);
_cameraPhotoIntervalDistanceFact.setMetaData (_metaDataMap[_cameraPhotoIntervalDistanceName]);
_cameraPhotoIntervalTimeFact.setMetaData (_metaDataMap[_cameraPhotoIntervalTimeName]);
_cameraModeFact.setMetaData (_metaDataMap[_cameraModeName]);
_gimbalPitchFact.setRawValue (_gimbalPitchFact.rawDefaultValue());
_gimbalYawFact.setRawValue (_gimbalYawFact.rawDefaultValue());
_cameraActionFact.setRawValue (_cameraActionFact.rawDefaultValue());
_cameraPhotoIntervalDistanceFact.setRawValue (_cameraPhotoIntervalDistanceFact.rawDefaultValue());
_cameraPhotoIntervalTimeFact.setRawValue (_cameraPhotoIntervalTimeFact.rawDefaultValue());
_cameraModeFact.setRawValue (_cameraModeFact.rawDefaultValue());
connect(this, &CameraSection::specifyGimbalChanged, this, &CameraSection::_specifyGimbalChanged);
connect(&_cameraActionFact, &Fact::valueChanged, this, &CameraSection::_cameraActionChanged);
connect(this, &CameraSection::specifyGimbalChanged, this, &CameraSection::_specifyChanged);
connect(this, &CameraSection::specifyCameraModeChanged, this, &CameraSection::_specifyChanged);
connect(&_gimbalPitchFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_gimbalYawFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_cameraPhotoIntervalDistanceFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_cameraPhotoIntervalTimeFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(this, &CameraSection::specifyGimbalChanged, this, &CameraSection::_setDirty);
connect(&_cameraActionFact, &Fact::valueChanged, this, &CameraSection::_cameraActionChanged);
connect(&_gimbalYawFact, &Fact::valueChanged, this, &CameraSection::_updateSpecifiedGimbalYaw);
connect(&_gimbalPitchFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_gimbalYawFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_cameraPhotoIntervalDistanceFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_cameraPhotoIntervalTimeFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_cameraModeFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(this, &CameraSection::specifyGimbalChanged, this, &CameraSection::_setDirty);
connect(this, &CameraSection::specifyCameraModeChanged, this, &CameraSection::_setDirty);
connect(&_gimbalYawFact, &Fact::valueChanged, this, &CameraSection::_updateSpecifiedGimbalYaw);
}
void CameraSection::setSpecifyGimbal(bool specifyGimbal)
@ -68,6 +77,14 @@ void CameraSection::setSpecifyGimbal(bool specifyGimbal) @@ -68,6 +77,14 @@ void CameraSection::setSpecifyGimbal(bool specifyGimbal)
}
}
void CameraSection::setSpecifyCameraMode(bool specifyCameraMode)
{
if (specifyCameraMode != _specifyCameraMode) {
_specifyCameraMode = specifyCameraMode;
emit specifyCameraModeChanged(specifyCameraMode);
}
}
int CameraSection::itemCount(void) const
{
int itemCount = 0;
@ -75,6 +92,9 @@ int CameraSection::itemCount(void) const @@ -75,6 +92,9 @@ int CameraSection::itemCount(void) const
if (_specifyGimbal) {
itemCount++;
}
if (_specifyCameraMode) {
itemCount++;
}
if (_cameraActionFact.rawValue().toInt() != CameraActionNone) {
itemCount++;
}
@ -121,7 +141,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss @@ -121,7 +141,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
0, // Unlimited photo count
-1, // Max resolution
0, 0, // param 4-5 not used
0, // Camera ID
0, // Camera ID, all cameras
0, // param 7 not used
true, // autoContinue
false, // isCurrentItem
@ -143,7 +163,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss @@ -143,7 +163,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
item = new MissionItem(nextSequenceNumber++,
MAV_CMD_VIDEO_START_CAPTURE,
MAV_FRAME_MISSION,
0, // Camera ID
0, // Camera ID, all cameras
-1, // Max fps
-1, // Max resolution
0, 0, 0, 0, // param 5-7 not used
@ -156,7 +176,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss @@ -156,7 +176,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
item = new MissionItem(nextSequenceNumber++,
MAV_CMD_VIDEO_STOP_CAPTURE,
MAV_FRAME_MISSION,
0, // Camera ID
0, // Camera ID, all cameras
0, 0, 0, 0, 0, 0, // param 2-7 not used
true, // autoContinue
false, // isCurrentItem
@ -176,7 +196,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss @@ -176,7 +196,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
item = new MissionItem(nextSequenceNumber++,
MAV_CMD_IMAGE_STOP_CAPTURE,
MAV_FRAME_MISSION,
0, // camera id
0, // camera id, all cameras
0, 0, 0, 0, 0, 0, // param 2-7 not used
true, // autoContinue
false, // isCurrentItem
@ -187,12 +207,26 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss @@ -187,12 +207,26 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
items.append(item);
}
}
if (_specifyCameraMode) {
MissionItem* item = new MissionItem(nextSequenceNumber++,
MAV_CMD_SET_CAMERA_MODE,
MAV_FRAME_MISSION,
0, // camera id, all cameras
_cameraModeFact.rawValue().toDouble(),
NAN, NAN, NAN, NAN, NAN, // param 3-7 unused
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
}
bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanIndex)
{
bool foundGimbal = false;
bool foundCameraAction = false;
bool foundCameraMode = false;
bool stopLooking = false;
qCDebug(CameraSectionLog) << "CameraSection::scanForCameraSection" << visualItems->count() << scanIndex;
@ -234,8 +268,9 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanInde @@ -234,8 +268,9 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanInde
cameraAction()->setRawValue(TakePhotosIntervalTime);
cameraPhotoIntervalTime()->setRawValue(missionItem.param1());
visualItems->removeAt(scanIndex)->deleteLater();
} else {
stopLooking = true;
}
stopLooking = true;
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
@ -277,8 +312,9 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanInde @@ -277,8 +312,9 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanInde
foundCameraAction = true;
cameraAction()->setRawValue(TakeVideo);
visualItems->removeAt(scanIndex)->deleteLater();
} else {
stopLooking = true;
}
stopLooking = true;
break;
case MAV_CMD_VIDEO_STOP_CAPTURE:
@ -286,8 +322,21 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanInde @@ -286,8 +322,21 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanInde
foundCameraAction = true;
cameraAction()->setRawValue(StopTakingVideo);
visualItems->removeAt(scanIndex)->deleteLater();
} else {
stopLooking = true;
}
break;
case MAV_CMD_SET_CAMERA_MODE:
// We specifically don't test param 5/6/7 since we don't have NaN persistence for those fields
if (!foundCameraMode && missionItem.param1() == 0 && (missionItem.param2() == 0 || missionItem.param2() == 1) && qIsNaN(missionItem.param3())) {
foundCameraMode = true;
setSpecifyCameraMode(true);
cameraMode()->setRawValue(missionItem.param2());
visualItems->removeAt(scanIndex)->deleteLater();
} else {
stopLooking = true;
}
stopLooking = true;
break;
default:
@ -296,12 +345,12 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanInde @@ -296,12 +345,12 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanInde
}
}
qCDebug(CameraSectionLog) << foundGimbal << foundCameraAction;
qCDebug(CameraSectionLog) << foundGimbal << foundCameraAction << foundCameraMode;
_settingsSpecified = foundGimbal || foundCameraAction;
_settingsSpecified = foundGimbal || foundCameraAction || foundCameraMode;
emit settingsSpecifiedChanged(_settingsSpecified);
return foundGimbal || foundCameraAction;
return _settingsSpecified;
}
void CameraSection::_setDirty(void)
@ -335,16 +384,15 @@ void CameraSection::_updateSpecifiedGimbalYaw(void) @@ -335,16 +384,15 @@ void CameraSection::_updateSpecifiedGimbalYaw(void)
void CameraSection::_updateSettingsSpecified(void)
{
bool newSettingsSpecified = _specifyGimbal || _cameraActionFact.rawValue().toInt() != CameraActionNone;
bool newSettingsSpecified = _specifyGimbal || _specifyCameraMode || _cameraActionFact.rawValue().toInt() != CameraActionNone;
if (newSettingsSpecified != _settingsSpecified) {
_settingsSpecified = newSettingsSpecified;
emit settingsSpecifiedChanged(newSettingsSpecified);
}
}
void CameraSection::_specifyGimbalChanged(bool specifyGimbal)
void CameraSection::_specifyChanged(void)
{
Q_UNUSED(specifyGimbal);
_setDirtyAndUpdateItemCount();
_updateSettingsSpecified();
}

13
src/MissionManager/CameraSection.h
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@ -38,6 +38,8 @@ public: @@ -38,6 +38,8 @@ public:
Q_PROPERTY(Fact* cameraAction READ cameraAction CONSTANT)
Q_PROPERTY(Fact* cameraPhotoIntervalTime READ cameraPhotoIntervalTime CONSTANT)
Q_PROPERTY(Fact* cameraPhotoIntervalDistance READ cameraPhotoIntervalDistance CONSTANT)
Q_PROPERTY(bool specifyCameraMode READ specifyCameraMode WRITE setSpecifyCameraMode NOTIFY specifyCameraModeChanged)
Q_PROPERTY(Fact* cameraMode READ cameraMode CONSTANT)
bool specifyGimbal (void) const { return _specifyGimbal; }
Fact* gimbalYaw (void) { return &_gimbalYawFact; }
@ -45,8 +47,11 @@ public: @@ -45,8 +47,11 @@ public:
Fact* cameraAction (void) { return &_cameraActionFact; }
Fact* cameraPhotoIntervalTime (void) { return &_cameraPhotoIntervalTimeFact; }
Fact* cameraPhotoIntervalDistance (void) { return &_cameraPhotoIntervalDistanceFact; }
bool specifyCameraMode (void) const { return _specifyCameraMode; }
Fact* cameraMode (void) { return &_cameraModeFact; }
void setSpecifyGimbal (bool specifyGimbal);
void setSpecifyGimbal (bool specifyGimbal);
void setSpecifyCameraMode (bool specifyCameraMode);
///< @return The gimbal yaw specified by this item, NaN if not specified
double specifiedGimbalYaw(void) const;
@ -63,13 +68,14 @@ public: @@ -63,13 +68,14 @@ public:
signals:
bool specifyGimbalChanged (bool specifyGimbal);
bool specifyCameraModeChanged (bool specifyCameraMode);
void specifiedGimbalYawChanged (double gimbalYaw);
private slots:
void _setDirty(void);
void _setDirtyAndUpdateItemCount(void);
void _updateSpecifiedGimbalYaw(void);
void _specifyGimbalChanged(bool specifyGimbal);
void _specifyChanged(void);
void _updateSettingsSpecified(void);
void _cameraActionChanged(void);
@ -77,11 +83,13 @@ private: @@ -77,11 +83,13 @@ private:
bool _available;
bool _settingsSpecified;
bool _specifyGimbal;
bool _specifyCameraMode;
Fact _gimbalYawFact;
Fact _gimbalPitchFact;
Fact _cameraActionFact;
Fact _cameraPhotoIntervalDistanceFact;
Fact _cameraPhotoIntervalTimeFact;
Fact _cameraModeFact;
bool _dirty;
static QMap<QString, FactMetaData*> _metaDataMap;
@ -91,4 +99,5 @@ private: @@ -91,4 +99,5 @@ private:
static const char* _cameraActionName;
static const char* _cameraPhotoIntervalDistanceName;
static const char* _cameraPhotoIntervalTimeName;
static const char* _cameraModeName;
};

189
src/MissionManager/CameraSectionTest.cc
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@ -30,6 +30,7 @@ void CameraSectionTest::init(void) @@ -30,6 +30,7 @@ void CameraSectionTest::init(void)
rgCameraSignals[specifyGimbalChangedIndex] = SIGNAL(specifyGimbalChanged(bool));
rgCameraSignals[specifiedGimbalYawChangedIndex] = SIGNAL(specifiedGimbalYawChanged(double));
rgCameraSignals[specifyCameraModeChangedIndex] = SIGNAL(specifyCameraModeChanged(bool));
_cameraSection = _simpleItem->cameraSection();
_createSpy(_cameraSection, &_spyCamera);
@ -58,6 +59,26 @@ void CameraSectionTest::init(void) @@ -58,6 +59,26 @@ void CameraSectionTest::init(void)
_validStopTimeItem = new SimpleMissionItem(_offlineVehicle,
MissionItem(1, MAV_CMD_IMAGE_STOP_CAPTURE, MAV_FRAME_MISSION, 0, 0, 0, 0, 0, 0, 0, true, false),
this);
_validCameraPhotoModeItem = new SimpleMissionItem(_offlineVehicle,
MissionItem(0, // sequence number
MAV_CMD_SET_CAMERA_MODE,
MAV_FRAME_MISSION,
0, // camera id = 0, all cameras
0, // photo mode
NAN, NAN, NAN, NAN, NAN, // param 3-7 unused
true, // autocontinue
false), // isCurrentItem
this);
_validCameraVideoModeItem = new SimpleMissionItem(_offlineVehicle,
MissionItem(0, // sequence number
MAV_CMD_SET_CAMERA_MODE,
MAV_FRAME_MISSION,
0, // camera id = 0, all cameras
1, // video mode
NAN, NAN, NAN, NAN, NAN, // param 3-7 unused
true, // autocontinue
false), // isCurrentItem
this);
}
void CameraSectionTest::cleanup(void)
@ -85,74 +106,104 @@ void CameraSectionTest::_createSpy(CameraSection* cameraSection, MultiSignalSpy* @@ -85,74 +106,104 @@ void CameraSectionTest::_createSpy(CameraSection* cameraSection, MultiSignalSpy*
void CameraSectionTest::_testDirty(void)
{
// Check for dirty not signalled if same value
_cameraSection->setSpecifyGimbal(_cameraSection->specifyGimbal());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_cameraSection->dirty(), false);
_cameraSection->setSpecifyCameraMode(_cameraSection->specifyCameraMode());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_cameraSection->dirty(), false);
_cameraSection->gimbalPitch()->setRawValue(_cameraSection->gimbalPitch()->rawValue());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_cameraSection->dirty(), false);
_cameraSection->gimbalYaw()->setRawValue(_cameraSection->gimbalPitch()->rawValue());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_cameraSection->dirty(), false);
_cameraSection->cameraAction()->setRawValue(_cameraSection->cameraAction()->rawValue());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_cameraSection->dirty(), false);
_cameraSection->cameraPhotoIntervalTime()->setRawValue(_cameraSection->cameraPhotoIntervalTime()->rawValue());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_cameraSection->dirty(), false);
_cameraSection->cameraPhotoIntervalDistance()->setRawValue(_cameraSection->cameraPhotoIntervalDistance()->rawValue());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_cameraSection->dirty(), false);
// Check for no duplicate dirty signalling on change
_cameraSection->setSpecifyGimbal(!_cameraSection->specifyGimbal());
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_cameraSection->dirty(), true);
_spySection->clearAllSignals();
_cameraSection->setSpecifyGimbal(!_cameraSection->specifyGimbal());
QVERIFY(_spySection->checkNoSignalByMask(dirtyChangedMask));
QCOMPARE(_cameraSection->dirty(), true);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
// Check that the dirty bit can be cleared
_cameraSection->setDirty(false);
_cameraSection->setSpecifyCameraMode(!_cameraSection->specifyCameraMode());
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), false);
QCOMPARE(_cameraSection->dirty(), false);
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_cameraSection->dirty(), true);
_spySection->clearAllSignals();
_cameraSection->setSpecifyCameraMode(!_cameraSection->specifyCameraMode());
QVERIFY(_spySection->checkNoSignalByMask(dirtyChangedMask));
QCOMPARE(_cameraSection->dirty(), true);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
// Check the remaining items that should set dirty bit
_cameraSection->gimbalPitch()->setRawValue(_cameraSection->gimbalPitch()->rawValue().toDouble() + 1);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_cameraSection->dirty(), true);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
_cameraSection->gimbalYaw()->setRawValue(_cameraSection->gimbalPitch()->rawValue().toDouble() + 1);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_cameraSection->dirty(), true);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
_cameraSection->cameraAction()->setRawValue(_cameraSection->cameraAction()->rawValue().toInt() + 1);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_cameraSection->dirty(), true);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
_cameraSection->cameraPhotoIntervalTime()->setRawValue(_cameraSection->cameraPhotoIntervalTime()->rawValue().toInt() + 1);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_cameraSection->dirty(), true);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
_cameraSection->cameraPhotoIntervalDistance()->setRawValue(_cameraSection->cameraPhotoIntervalDistance()->rawValue().toDouble() + 1);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_cameraSection->dirty(), true);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
_cameraSection->cameraMode()->setRawValue(_cameraSection->cameraMode()->rawValue().toInt() == 0 ? 1 : 0);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_cameraSection->dirty(), true);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
}
void CameraSectionTest::_testSettingsAvailable(void)
@ -162,7 +213,7 @@ void CameraSectionTest::_testSettingsAvailable(void) @@ -162,7 +213,7 @@ void CameraSectionTest::_testSettingsAvailable(void)
QCOMPARE(_cameraSection->specifyGimbal(), false);
QCOMPARE(_cameraSection->settingsSpecified(), false);
// Check correct reaction to specifyGimbal on/off
// Check correct reaction to specify methods on/off
_cameraSection->setSpecifyGimbal(true);
QCOMPARE(_cameraSection->specifyGimbal(), true);
@ -184,6 +235,26 @@ void CameraSectionTest::_testSettingsAvailable(void) @@ -184,6 +235,26 @@ void CameraSectionTest::_testSettingsAvailable(void)
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
_cameraSection->setSpecifyCameraMode(true);
QCOMPARE(_cameraSection->specifyCameraMode(), true);
QCOMPARE(_cameraSection->settingsSpecified(), true);
QVERIFY(_spyCamera->checkSignalByMask(specifyCameraModeChangedMask));
QCOMPARE(_spyCamera->pullBoolFromSignalIndex(specifyCameraModeChangedIndex), true);
QVERIFY(_spySection->checkSignalByMask(settingsSpecifiedChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(settingsSpecifiedChangedIndex), true);
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
_cameraSection->setSpecifyCameraMode(false);
QCOMPARE(_cameraSection->specifyCameraMode(), false);
QCOMPARE(_cameraSection->settingsSpecified(), false);
QVERIFY(_spyCamera->checkSignalByMask(specifyCameraModeChangedMask));
QCOMPARE(_spyCamera->pullBoolFromSignalIndex(specifyCameraModeChangedIndex), false);
QVERIFY(_spySection->checkSignalByMask(settingsSpecifiedChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(settingsSpecifiedChangedIndex), false);
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
// Check correct reaction to cameraAction on/off
_cameraSection->cameraAction()->setRawValue(CameraSection::TakePhotosIntervalTime);
@ -235,7 +306,7 @@ void CameraSectionTest::_testItemCount(void) @@ -235,7 +306,7 @@ void CameraSectionTest::_testItemCount(void)
// No settings specified to start
QCOMPARE(_cameraSection->itemCount(), 0);
// Check specifyGimbal
// Check specify methods
_cameraSection->setSpecifyGimbal(true);
QCOMPARE(_cameraSection->itemCount(), 1);
@ -251,6 +322,34 @@ void CameraSectionTest::_testItemCount(void) @@ -251,6 +322,34 @@ void CameraSectionTest::_testItemCount(void)
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
_cameraSection->setSpecifyCameraMode(true);
QCOMPARE(_cameraSection->itemCount(), 1);
QVERIFY(_spySection->checkSignalByMask(itemCountChangedMask));
QCOMPARE(_spySection->pullIntFromSignalIndex(itemCountChangedIndex), 1);
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
_cameraSection->setSpecifyCameraMode(false);
QCOMPARE(_cameraSection->itemCount(), 0);
QVERIFY(_spySection->checkSignalByMask(itemCountChangedMask));
QCOMPARE(_spySection->pullIntFromSignalIndex(itemCountChangedIndex), 0);
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
_cameraSection->setSpecifyGimbal(true);
_cameraSection->setSpecifyCameraMode(true);
QCOMPARE(_cameraSection->itemCount(), 2);
QVERIFY(_spySection->checkSignalsByMask(itemCountChangedMask));
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
_cameraSection->setSpecifyGimbal(false);
_cameraSection->setSpecifyCameraMode(false);
QCOMPARE(_cameraSection->itemCount(), 0);
QVERIFY(_spySection->checkSignalsByMask(itemCountChangedMask));
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
// Check camera actions
QList<int> rgCameraActions;
@ -318,6 +417,28 @@ void CameraSectionTest::_testAppendSectionItems(void) @@ -318,6 +417,28 @@ void CameraSectionTest::_testAppendSectionItems(void)
rgMissionItems.clear();
seqNum = 0;
// Test specifyCameraMode
_cameraSection->setSpecifyCameraMode(true);
_cameraSection->cameraMode()->setRawValue(0);
_cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 1);
QCOMPARE(seqNum, 1);
_missionItemsEqual(*rgMissionItems[0], _validCameraPhotoModeItem->missionItem());
_cameraSection->setSpecifyGimbal(false);
rgMissionItems.clear();
seqNum = 0;
_cameraSection->setSpecifyCameraMode(true);
_cameraSection->cameraMode()->setRawValue(1);
_cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 1);
QCOMPARE(seqNum, 1);
_missionItemsEqual(*rgMissionItems[0], _validCameraVideoModeItem->missionItem());
_cameraSection->setSpecifyCameraMode(false);
rgMissionItems.clear();
seqNum = 0;
// Test camera actions
_cameraSection->cameraAction()->setRawValue(CameraSection::TakePhotosIntervalTime);
@ -468,6 +589,62 @@ void CameraSectionTest::_testScanForGimbalSection(void) @@ -468,6 +589,62 @@ void CameraSectionTest::_testScanForGimbalSection(void)
visualItems.clear();
}
void CameraSectionTest::_testScanForCameraModeSection(void)
{
QCOMPARE(_cameraSection->available(), true);
int scanIndex = 0;
QmlObjectListModel visualItems;
_commonScanTest(_cameraSection);
// Check for a scan success
SimpleMissionItem* newValidCameraModeItem = new SimpleMissionItem(_offlineVehicle, this);
newValidCameraModeItem->missionItem() = _validCameraPhotoModeItem->missionItem();
visualItems.append(newValidCameraModeItem);
scanIndex = 0;
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
QCOMPARE(visualItems.count(), 0);
QCOMPARE(_cameraSection->settingsSpecified(), true);
QCOMPARE(_cameraSection->specifyCameraMode(), true);
QCOMPARE(_cameraSection->cameraMode()->rawValue().toDouble(), _validCameraPhotoModeItem->missionItem().param2());
_cameraSection->setSpecifyCameraMode(false);
visualItems.clear();
scanIndex = 0;
newValidCameraModeItem->missionItem() = _validCameraVideoModeItem->missionItem();
visualItems.append(newValidCameraModeItem);
scanIndex = 0;
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
QCOMPARE(visualItems.count(), 0);
QCOMPARE(_cameraSection->settingsSpecified(), true);
QCOMPARE(_cameraSection->specifyCameraMode(), true);
QCOMPARE(_cameraSection->cameraMode()->rawValue().toDouble(), _validCameraVideoModeItem->missionItem().param2());
_cameraSection->setSpecifyCameraMode(false);
visualItems.clear();
scanIndex = 0;
#if 0
MAV_CMD_SET_CAMERA_MODE
Mission Param #1 Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)
Mission Param #2 Camera mode (0: photo mode, 1: video mode)
Mission Param #3 Audio recording enabled (0: off 1: on)
Mission Param #4 Reserved (all remaining params)
#endif
// Mode command but incorrect settings
SimpleMissionItem invalidSimpleItem(_offlineVehicle, _validCameraPhotoModeItem->missionItem());
invalidSimpleItem.missionItem().setParam3(0); // Audio is not supported
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->specifyCameraMode(), false);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
}
void CameraSectionTest::_testScanForPhotoIntervalTimeSection(void)
{
QCOMPARE(_cameraSection->available(), true);

7
src/MissionManager/CameraSectionTest.h
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@ -35,6 +35,7 @@ private slots: @@ -35,6 +35,7 @@ private slots:
void _testScanForStartVideoSection(void);
void _testScanForStopVideoSection(void);
void _testScanForStopImageSection(void);
void _testScanForCameraModeSection(void);
void _testScanForFullSection(void);
private:
@ -43,12 +44,14 @@ private: @@ -43,12 +44,14 @@ private:
enum {
specifyGimbalChangedIndex = 0,
specifiedGimbalYawChangedIndex,
specifyCameraModeChangedIndex,
maxSignalIndex,
};
enum {
specifyGimbalChangedMask = 1 << specifyGimbalChangedIndex,
specifiedGimbalYawChangedMask = 1 << specifiedGimbalYawChangedIndex
specifiedGimbalYawChangedMask = 1 << specifiedGimbalYawChangedIndex,
specifyCameraModeChangedMask = 1 << specifyCameraModeChangedIndex,
};
static const size_t cCameraSignals = maxSignalIndex;
@ -64,4 +67,6 @@ private: @@ -64,4 +67,6 @@ private:
SimpleMissionItem* _validStopVideoItem;
SimpleMissionItem* _validStopDistanceItem;
SimpleMissionItem* _validStopTimeItem;
SimpleMissionItem* _validCameraPhotoModeItem;
SimpleMissionItem* _validCameraVideoModeItem;
};

24
src/MissionManager/MavCmdInfoCommon.json
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@ -968,6 +968,30 @@ @@ -968,6 +968,30 @@
{ "id": 511, "rawName": "MAV_CMD_SET_MESSAGE_INTERVAL", "friendlyName": "Set message interval" },
{ "id": 520, "rawName": "MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES", "friendlyName": "Get capabilities" },
{
"id": 530,
"rawName": "MAV_CMD_SET_CAMERA_MODE",
"friendlyName": "Set camera modes" ,
"description": "Set camera photo, video, audio modes.",
"category": "Camera",
"param1": {
"label": "Camera id",
"default": 0,
"decimalPlaces": 0
},
"param2": {
"label": "Mode",
"enumStrings": "Take photos,Record video",
"enumValues": "0,1",
"default": 0
},
"param3": {
"label": "Audio",
"enumStrings": "Recording disabled,Recording enabled",
"enumValues": "0,1",
"default": 0
}
},
{
"id": 2000,
"rawName": "MAV_CMD_IMAGE_START_CAPTURE",
"friendlyName": "Start image capture" ,

19
src/MissionManager/MissionController.cc
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@ -316,10 +316,16 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate @@ -316,10 +316,16 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate
bool rollSupported = false;
bool pitchSupported = false;
bool yawSupported = false;
MissionSettingsItem* settingsItem = _visualItems->value<MissionSettingsItem*>(0);
CameraSection* cameraSection = settingsItem->cameraSection();
// Set camera to photo mode (leave alone if user already specified)
if (!cameraSection->specifyCameraMode()) {
cameraSection->setSpecifyCameraMode(true);
cameraSection->cameraMode()->setRawValue(0);
}
// Point gimbal straight down
if (_controllerVehicle->firmwarePlugin()->hasGimbal(_controllerVehicle, rollSupported, pitchSupported, yawSupported) && pitchSupported) {
MissionSettingsItem* settingsItem = _visualItems->value<MissionSettingsItem*>(0);
// If the user already specified a gimbal angle leave it alone
CameraSection* cameraSection = settingsItem->cameraSection();
if (!cameraSection->specifyGimbal()) {
cameraSection->setSpecifyGimbal(true);
cameraSection->gimbalPitch()->setRawValue(-90.0);
@ -364,18 +370,21 @@ void MissionController::removeMissionItem(int index) @@ -364,18 +370,21 @@ void MissionController::removeMissionItem(int index)
}
}
// If there is no longer a survey item in the mission remove the gimbal pitch command
// If there is no longer a survey item in the mission remove added commands
if (!foundSurvey) {
bool rollSupported = false;
bool pitchSupported = false;
bool yawSupported = false;
MissionSettingsItem* settingsItem = _visualItems->value<MissionSettingsItem*>(0);
CameraSection* cameraSection = settingsItem->cameraSection();
if (_controllerVehicle->firmwarePlugin()->hasGimbal(_controllerVehicle, rollSupported, pitchSupported, yawSupported) && pitchSupported) {
MissionSettingsItem* settingsItem = _visualItems->value<MissionSettingsItem*>(0);
CameraSection* cameraSection = settingsItem->cameraSection();
if (cameraSection->specifyGimbal() && cameraSection->gimbalPitch()->rawValue().toDouble() == -90.0 && cameraSection->gimbalYaw()->rawValue().toDouble() == 0.0) {
cameraSection->setSpecifyGimbal(false);
}
}
if (cameraSection->specifyCameraMode() && cameraSection->cameraMode()->rawValue().toInt() == 0) {
cameraSection->setSpecifyCameraMode(false);
}
}
}

21
src/MissionManager/SectionTest.cc
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@ -56,16 +56,17 @@ void SectionTest::_createSpy(Section* section, MultiSignalSpy** sectionSpy) @@ -56,16 +56,17 @@ void SectionTest::_createSpy(Section* section, MultiSignalSpy** sectionSpy)
void SectionTest::_missionItemsEqual(MissionItem& item1, MissionItem& item2)
{
QCOMPARE(item1.command(), item2.command());
QCOMPARE(item1.frame(), item2.frame());
QCOMPARE(item1.autoContinue(), item2.autoContinue());
QCOMPARE(item1.param1(), item2.param1());
QCOMPARE(item1.param2(), item2.param2());
QCOMPARE(item1.param3(), item2.param3());
QCOMPARE(item1.param4(), item2.param4());
QCOMPARE(item1.param5(), item2.param5());
QCOMPARE(item1.param6(), item2.param6());
QCOMPARE(item1.param7(), item2.param7());
QCOMPARE(item1.command(), item2.command());
QCOMPARE(item1.frame(), item2.frame());
QCOMPARE(item1.autoContinue(), item2.autoContinue());
QVERIFY(UnitTest::doubleNaNCompare(item1.param1(), item2.param1()));
QVERIFY(UnitTest::doubleNaNCompare(item1.param2(), item2.param2()));
QVERIFY(UnitTest::doubleNaNCompare(item1.param3(), item2.param3()));
QVERIFY(UnitTest::doubleNaNCompare(item1.param4(), item2.param4()));
QVERIFY(UnitTest::doubleNaNCompare(item1.param5(), item2.param5()));
QVERIFY(UnitTest::doubleNaNCompare(item1.param6(), item2.param6()));
QVERIFY(UnitTest::doubleNaNCompare(item1.param7(), item2.param7()));
}
void SectionTest::_commonScanTest(Section* section)

19
src/PlanView/CameraSection.qml
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@ -104,5 +104,24 @@ Column { @@ -104,5 +104,24 @@ Column {
enabled: gimbalCheckBox.checked
}
}
RowLayout {
anchors.left: parent.left
anchors.right: parent.right
spacing: ScreenTools.defaultFontPixelWidth
QGCCheckBox {
id: modeCheckBox
text: qsTr("Mode")
checked: _camera.specifyCameraMode
onClicked: _camera.specifyCameraMode = checked
}
FactComboBox {
fact: _camera.cameraMode
indexModel: false
enabled: modeCheckBox.checked
Layout.fillWidth: true
}
}
}
}

9
src/qgcunittest/UnitTest.cc
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@ -504,3 +504,12 @@ bool UnitTest::fileCompare(const QString& file1, const QString& file2) @@ -504,3 +504,12 @@ bool UnitTest::fileCompare(const QString& file1, const QString& file2)
return true;
}
bool UnitTest::doubleNaNCompare(double value1, double value2)
{
if (qIsNaN(value1) && qIsNaN(value2)) {
return true;
} else {
return qFuzzyCompare(value1, value2);
}
}

4
src/qgcunittest/UnitTest.h
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@ -92,6 +92,10 @@ public: @@ -92,6 +92,10 @@ public:
/// @return true: files are alike, false: files differ
static bool fileCompare(const QString& file1, const QString& file2);
/// Fuzzy compare on two doubles, where NaN is a possible value
/// @return true: equal
static bool doubleNaNCompare(double value1, double value2);
protected slots:
// These are all pure virtuals to force the derived class to implement each one and in turn

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